How to get exact camera view?
Go into camera view (Numpad 0) and use Lock Camera to View.

Then, navigate as you would normally do in the 3d viewport using the mouse or the keyboard.
Numpad 4 and Numpad 6 will rotate left right.
Numpad 8 and Numpad 2 will rotate up and down
Numpad + and Numpad - willmove the camera forward and back

Or Use Fly/Walk mode:
https://docs.blender.org/manual/en/latest/editors/3dview/navigate/walk_fly.html?highlight=walk%20mode